{"id":31934601,"url":"https://github.com/cyberagentailab/nav2-keepout-zone-map-creator","last_synced_at":"2025-10-14T06:34:36.253Z","repository":{"id":234086097,"uuid":"788217851","full_name":"CyberAgentAILab/nav2-keepout-zone-map-creator","owner":"CyberAgentAILab","description":"nav2-keepout-zone-map-creator is a tool that allows you to create a Keepout Zone map from an Occupancy Grid Map and 3D point cloud.","archived":false,"fork":false,"pushed_at":"2024-04-24T04:02:57.000Z","size":30238,"stargazers_count":26,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-09-10T07:42:51.807Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/CyberAgentAILab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-04-18T01:59:10.000Z","updated_at":"2025-03-21T05:09:57.000Z","dependencies_parsed_at":"2025-09-10T09:00:58.970Z","dependency_job_id":null,"html_url":"https://github.com/CyberAgentAILab/nav2-keepout-zone-map-creator","commit_stats":null,"previous_names":["cyberagentailab/nav2-keepout-zone-map-creator"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/CyberAgentAILab/nav2-keepout-zone-map-creator","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CyberAgentAILab%2Fnav2-keepout-zone-map-creator","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CyberAgentAILab%2Fnav2-keepout-zone-map-creator/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CyberAgentAILab%2Fnav2-keepout-zone-map-creator/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CyberAgentAILab%2Fnav2-keepout-zone-map-creator/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CyberAgentAILab","download_url":"https://codeload.github.com/CyberAgentAILab/nav2-keepout-zone-map-creator/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CyberAgentAILab%2Fnav2-keepout-zone-map-creator/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279018112,"owners_count":26086281,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-14T02:00:06.444Z","response_time":60,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-10-14T06:34:31.665Z","updated_at":"2025-10-14T06:34:36.245Z","avatar_url":"https://github.com/CyberAgentAILab.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# nav2-keepout-zone-map-creator\n\n## Introduction\n\n[Nav2](https://navigation.ros.org/) provides [Keepout Filter](https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html). But, it is difficult to create **Keepout Zone** map using only Occupancy Grid Map. `nav2-keepout-zone-map-creator` is a tool that allows you to create a keepout zone map from an Occupancy Grid Map and 3D point cloud.\n\n## Demo\n\n![](figure/nav2_keepout_zone_map_creator_demo.gif)\n\n## Requirements\n\n- Python 3.10\n- Open3D\n- NumPy\n- OpenCV\n- Dear PyGui\n\n## Preparation\n\n### Installing the Package\n\n```shell\npython3 -m venv .venv/nav2-keepout-zone-map-creator\nsource .venv/nav2-keepout-zone-map-creator/bin/activate\npip install -r requirements.txt\n```\n\n### Generating Occupancy Grid Map\n\nYou will need to generate a Occupancy Grid Map. As an example, we have prepared [data/map.pgm](data/map.pgm). This data was generated using [SLAM Toolbox](https://github.com/SteveMacenski/slam_toolbox).\n\n### Generating 3D Point Cloud Map\n\nYou will need to generate a 3D point cloud map.\n\n```shell\ndocker run -it --rm -v $HOME:$HOME introlab3it/rtabmap:22.04 bash\n```\n\n```shell\nrtabmap-export rtabmap-export \u003cRTABMAP database file\u003e\n```\n\nAs an example, we have prepared [data/cloud.ply](data/cloud.ply). This data was generated using [RTAB-Map](https://apps.apple.com/td/app/rtab-map-3d-lidar-scanner/id1564774365).\n\n### Generating BEV(Bird's Eye View) image\n\nYou will need to generate a **BEV(Bird's Eye View)** image.\n\n```shell\npython3 generate_bev_image.py --input=\u003cPointCloud Map PATH\u003e\n```\n\nAs an example, we have prepared [data/cloud.ply](data/cloud.ply).\n\n```shell\npython3 generate_bev_image.py --input=data/cloud.ply\n```\n\n|Input Point Cloud|Generated BEV image|\n|:---:|:---:|\n|![](figure/cloud_ply.png)|![](data/cloud_birdseye.png)|\n\nAnd, `generate_bev_image.py` has the following option.\n\n|Option|Description|Unit|Required|\n|:---|:---|:---:|:---|\n|`--input \u003cfilepath\u003e`|path to PoindCloud Map|-|True|\n|`--min_z \u003cvalue\u003e`|min_z|meter|False|\n|`--max_z \u003cvalue\u003e`|max_z|meter|False|\n|`--vis`|enable to visualize BEV image|-|False|\n\n## Usage\n\n```shell\npython3 generate_keepout_zone_map.py --map=\u003cMAP IMAGE\u003e  --bev=\u003cBEV IMAGE\u003e\n```\n\n`generate_keepout_zone_map.py` has the following option.\n\n|Option|Description|Unit|Required|\n|:---|:---|:---:|:---|\n|`--map \u003cMAP IMAGE\u003e`|path to Occupancy Grid Map|-|True|\n|`--bev \u003cBEV IMAGE\u003e`|path to BEV image|-|True|\n\nAs an example, we have prepared [data/map.pgm](data/map.pgm) and [data/cloud_birdseye.png](data/cloud_birdseye.png).\n\n```shell\npython3 generate_keepout_zone_map.py --map=data/map.pgm  --bev=data/cloud_birdseye.png\n```\n\n![](figure/gui.png)\n\n### Adjust parameters\n\nYou can adjust the following parameters.\n\n|Parameter|Unit|\n|:---|:---:|\n|alpha|-|\n|X shift|pixel|\n|Y shift|pixel|\n|rotation|deg|\n|scale|-|\n\n### Specify keepout zone\n\nYou can specify keepout zone as polygon.\n\n|Operation|Description|\n|:---|:---|\n|Light Mouse Click|add vertices|\n|Push `f` key|finish to add vertices|\n\n### Save keepout zone map\n\nPlease push `Save` button. `\u003cMAP_IMAGE_PREFIX\u003e_keepout.pgm` is saved.\n\n### Exit application\n\nPlease push `q` key.\n\n## Reference\n\n- \u003chttps://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyberagentailab%2Fnav2-keepout-zone-map-creator","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcyberagentailab%2Fnav2-keepout-zone-map-creator","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyberagentailab%2Fnav2-keepout-zone-map-creator/lists"}